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<div class="title">mavlink_helpers.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;string.h&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;checksum.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;mavlink_types.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="mavlink__conversions_8h.html">mavlink_conversions.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef MAVLINK_HELPER</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define MAVLINK_HELPER</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;mavlink_sha256.h&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CXX_NAMESPACE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>mavlink {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * Internal function to give access to the channel status for each channel</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef MAVLINK_GET_CHANNEL_STATUS</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;MAVLINK_HELPER <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* mavlink_get_channel_status(uint8_t chan)</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;{</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#ifdef MAVLINK_EXTERNAL_RX_STATUS</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// No m_mavlink_status array defined in function,</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">// has to be defined externally</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">static</span> <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordflow">return</span> &amp;m_mavlink_status[chan];</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Internal function to give access to the channel buffer for each channel</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef MAVLINK_GET_CHANNEL_BUFFER</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    </div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifdef MAVLINK_EXTERNAL_RX_BUFFER</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">// No m_mavlink_buffer array defined in function,</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">// has to be defined externally</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">static</span> mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">return</span> &amp;m_mavlink_buffer[chan];</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#endif // MAVLINK_GET_CHANNEL_BUFFER</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_reset_channel_status(uint8_t chan)</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status = mavlink_get_channel_status(chan);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;MAVLINK_HELPER uint8_t mavlink_sign_packet(<a class="code" href="struct____mavlink__signing.html">mavlink_signing_t</a> *signing,</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                       uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN],</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                       <span class="keyword">const</span> uint8_t *header, uint8_t header_len,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                       <span class="keyword">const</span> uint8_t *packet, uint8_t packet_len,</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                       <span class="keyword">const</span> uint8_t crc[2])</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="structmavlink__sha256__ctx.html">mavlink_sha256_ctx</a> ctx;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">union </span>{</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        uint64_t t64;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        uint8_t t8[8];</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    } tstamp;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">if</span> (signing == NULL || !(signing-&gt;<a class="code" href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">flags</a> &amp; MAVLINK_SIGNING_FLAG_SIGN_OUTGOING)) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    signature[0] = signing-&gt;link_id;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    tstamp.t64 = signing-&gt;timestamp;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    memcpy(&amp;signature[1], tstamp.t8, 6);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    signing-&gt;timestamp++;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    mavlink_sha256_init(&amp;ctx);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    mavlink_sha256_update(&amp;ctx, signing-&gt;secret_key, <span class="keyword">sizeof</span>(signing-&gt;secret_key));</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    mavlink_sha256_update(&amp;ctx, header, header_len);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    mavlink_sha256_update(&amp;ctx, packet, packet_len);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    mavlink_sha256_update(&amp;ctx, crc, 2);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    mavlink_sha256_update(&amp;ctx, signature, 7);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    mavlink_sha256_final_48(&amp;ctx, &amp;signature[7]);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    </div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> MAVLINK_SIGNATURE_BLOCK_LEN;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;MAVLINK_HELPER uint8_t _mav_trim_payload(<span class="keyword">const</span> <span class="keywordtype">char</span> *payload, uint8_t length)</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">while</span> (length &gt; 1 &amp;&amp; payload[length-1] == 0) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        length--;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    }</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">return</span> length;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;MAVLINK_HELPER <span class="keywordtype">bool</span> mavlink_signature_check(<a class="code" href="struct____mavlink__signing.html">mavlink_signing_t</a> *signing,</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                        <a class="code" href="struct____mavlink__signing__streams.html">mavlink_signing_streams_t</a> *signing_streams,</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                        <span class="keyword">const</span> mavlink_message_t *msg)</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">if</span> (signing == NULL) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">const</span> uint8_t *p = (<span class="keyword">const</span> uint8_t *)&amp;msg-&gt;magic;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keyword">const</span> uint8_t *psig = msg-&gt;signature;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">const</span> uint8_t *incoming_signature = psig+7;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <a class="code" href="structmavlink__sha256__ctx.html">mavlink_sha256_ctx</a> ctx;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    uint8_t signature[6];</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    uint16_t i;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        </div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    mavlink_sha256_init(&amp;ctx);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    mavlink_sha256_update(&amp;ctx, signing-&gt;secret_key, <span class="keyword">sizeof</span>(signing-&gt;secret_key));</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    mavlink_sha256_update(&amp;ctx, p, MAVLINK_CORE_HEADER_LEN+1+msg-&gt;len);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    mavlink_sha256_update(&amp;ctx, msg-&gt;ck, 2);</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    mavlink_sha256_update(&amp;ctx, psig, 1+6);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    mavlink_sha256_final_48(&amp;ctx, signature);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span> (memcmp(signature, incoming_signature, 6) != 0) {</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// now check timestamp</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keyword">union </span>tstamp {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        uint64_t t64;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        uint8_t t8[8];</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    } tstamp;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    uint8_t link_id = psig[0];</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    tstamp.t64 = 0;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    memcpy(tstamp.t8, psig+1, 6);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">if</span> (signing_streams == NULL) {</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    </div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// find stream</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">for</span> (i=0; i&lt;signing_streams-&gt;num_signing_streams; i++) {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">if</span> (msg-&gt;sysid == signing_streams-&gt;stream[i].sysid &amp;&amp;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            msg-&gt;compid == signing_streams-&gt;stream[i].compid &amp;&amp;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            link_id == signing_streams-&gt;stream[i].link_id) {</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">if</span> (i == signing_streams-&gt;num_signing_streams) {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">if</span> (signing_streams-&gt;num_signing_streams &gt;= MAVLINK_MAX_SIGNING_STREAMS) {</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <span class="comment">// over max number of streams</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="comment">// new stream. Only accept if timestamp is not more than 1 minute old</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordflow">if</span> (tstamp.t64 + 6000*1000UL &lt; signing-&gt;timestamp) {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="comment">// add new stream</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        signing_streams-&gt;stream[i].sysid = msg-&gt;sysid;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        signing_streams-&gt;stream[i].compid = msg-&gt;compid;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        signing_streams-&gt;stream[i].link_id = link_id;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        signing_streams-&gt;num_signing_streams++;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">union </span>tstamp last_tstamp;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        last_tstamp.t64 = 0;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        memcpy(last_tstamp.t8, signing_streams-&gt;stream[i].timestamp_bytes, 6);</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">if</span> (tstamp.t64 &lt;= last_tstamp.t64) {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            <span class="comment">// repeating old timestamp</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        }</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="comment">// remember last timestamp</span></div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    memcpy(signing_streams-&gt;stream[i].timestamp_bytes, psig+1, 6);</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// our next timestamp must be at least this timestamp</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">if</span> (tstamp.t64 &gt; signing-&gt;timestamp) {</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        signing-&gt;timestamp = tstamp.t64;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;}</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                              <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* status, uint8_t min_length, uint8_t length, uint8_t crc_extra)</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;{</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">bool</span> mavlink1 = (status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp; MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordtype">bool</span> signing =  (!mavlink1) &amp;&amp; status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a> &amp;&amp; (status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>-&gt;<a class="code" href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">flags</a> &amp; MAVLINK_SIGNING_FLAG_SIGN_OUTGOING);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    uint8_t signature_len = signing? MAVLINK_SIGNATURE_BLOCK_LEN : 0;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        uint8_t header_len = MAVLINK_CORE_HEADER_LEN+1;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    uint8_t buf[MAVLINK_CORE_HEADER_LEN+1];</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">if</span> (mavlink1) {</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        msg-&gt;magic = MAVLINK_STX_MAVLINK1;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN+1;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        msg-&gt;magic = MAVLINK_STX;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    }</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    msg-&gt;len = mavlink1?min_length:_mav_trim_payload(_MAV_PAYLOAD(msg), length);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    msg-&gt;sysid = system_id;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    msg-&gt;compid = component_id;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    msg-&gt;incompat_flags = 0;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">if</span> (signing) {</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        msg-&gt;incompat_flags |= MAVLINK_IFLAG_SIGNED;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    }</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    msg-&gt;compat_flags = 0;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    msg-&gt;seq = status-&gt;<a class="code" href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">current_tx_seq</a>;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    status-&gt;<a class="code" href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">current_tx_seq</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">current_tx_seq</a> + 1;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="comment">// form the header as a byte array for the crc</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    buf[0] = msg-&gt;magic;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    buf[1] = msg-&gt;len;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">if</span> (mavlink1) {</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        buf[2] = msg-&gt;seq;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        buf[3] = msg-&gt;sysid;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        buf[4] = msg-&gt;compid;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        buf[5] = msg-&gt;msgid &amp; 0xFF;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        buf[2] = msg-&gt;incompat_flags;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        buf[3] = msg-&gt;compat_flags;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        buf[4] = msg-&gt;seq;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        buf[5] = msg-&gt;sysid;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        buf[6] = msg-&gt;compid;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        buf[7] = msg-&gt;msgid &amp; 0xFF;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        buf[8] = (msg-&gt;msgid &gt;&gt; 8) &amp; 0xFF;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        buf[9] = (msg-&gt;msgid &gt;&gt; 16) &amp; 0xFF;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    }</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    </div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    msg-&gt;checksum = crc_calculate(&amp;buf[1], header_len-1);</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    crc_accumulate_buffer(&amp;msg-&gt;checksum, _MAV_PAYLOAD(msg), msg-&gt;len);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    crc_accumulate(crc_extra, &amp;msg-&gt;checksum);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    mavlink_ck_a(msg) = (uint8_t)(msg-&gt;checksum &amp; 0xFF);</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    mavlink_ck_b(msg) = (uint8_t)(msg-&gt;checksum &gt;&gt; 8);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">if</span> (signing) {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        mavlink_sign_packet(status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>,</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                    msg-&gt;signature,</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                    (<span class="keyword">const</span> uint8_t *)buf, header_len,</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                    (<span class="keyword">const</span> uint8_t *)_MAV_PAYLOAD(msg), msg-&gt;len,</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                    (<span class="keyword">const</span> uint8_t *)_MAV_PAYLOAD(msg)+(uint16_t)msg-&gt;len);</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    </div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">return</span> msg-&gt;len + header_len + 2 + signature_len;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;}</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                              uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra)</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;{</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status = mavlink_get_channel_status(chan);</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">return</span> mavlink_finalize_message_buffer(msg, system_id, component_id, status, min_length, length, crc_extra);</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;}</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, </div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                         uint8_t min_length, uint8_t length, uint8_t crc_extra)</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;{</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordflow">return</span> mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, min_length, length, crc_extra);</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> _mav_parse_error(<a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status)</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;{</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    status-&gt;<a class="code" href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">parse_error</a>++;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;}</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> _mavlink_send_uart(mavlink_channel_t chan, <span class="keyword">const</span> <span class="keywordtype">char</span> *buf, uint16_t len);</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid,</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                                                    <span class="keyword">const</span> <span class="keywordtype">char</span> *packet, </div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                            uint8_t min_length, uint8_t length, uint8_t crc_extra)</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;{</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    uint16_t checksum;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    uint8_t buf[MAVLINK_NUM_HEADER_BYTES];</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    uint8_t ck[2];</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status = mavlink_get_channel_status(chan);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        uint8_t header_len = MAVLINK_CORE_HEADER_LEN;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    uint8_t signature_len = 0;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordtype">bool</span> mavlink1 = (status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp; MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordtype">bool</span> signing =  (!mavlink1) &amp;&amp; status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a> &amp;&amp; (status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>-&gt;<a class="code" href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">flags</a> &amp; MAVLINK_SIGNING_FLAG_SIGN_OUTGOING);</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <span class="keywordflow">if</span> (mavlink1) {</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            length = min_length;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            <span class="keywordflow">if</span> (msgid &gt; 255) {</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                <span class="comment">// can&#39;t send 16 bit messages</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                _mav_parse_error(status);</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                <span class="keywordflow">return</span>;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;            }</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;            header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            buf[0] = MAVLINK_STX_MAVLINK1;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            buf[1] = length;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            buf[2] = status-&gt;<a class="code" href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">current_tx_seq</a>;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            buf[3] = mavlink_system.sysid;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            buf[4] = mavlink_system.compid;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            buf[5] = msgid &amp; 0xFF;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        uint8_t incompat_flags = 0;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <span class="keywordflow">if</span> (signing) {</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        incompat_flags |= MAVLINK_IFLAG_SIGNED;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        }</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;            length = _mav_trim_payload(packet, length);</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;            buf[0] = MAVLINK_STX;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            buf[1] = length;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            buf[2] = incompat_flags;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;            buf[3] = 0; <span class="comment">// compat_flags</span></div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;            buf[4] = status-&gt;<a class="code" href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">current_tx_seq</a>;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;            buf[5] = mavlink_system.sysid;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;            buf[6] = mavlink_system.compid;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;            buf[7] = msgid &amp; 0xFF;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;            buf[8] = (msgid &gt;&gt; 8) &amp; 0xFF;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;            buf[9] = (msgid &gt;&gt; 16) &amp; 0xFF;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        }</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    status-&gt;<a class="code" href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">current_tx_seq</a>++;</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    checksum = crc_calculate((<span class="keyword">const</span> uint8_t*)&amp;buf[1], header_len);</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    crc_accumulate_buffer(&amp;checksum, packet, length);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    crc_accumulate(crc_extra, &amp;checksum);</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    ck[0] = (uint8_t)(checksum &amp; 0xFF);</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    ck[1] = (uint8_t)(checksum &gt;&gt; 8);</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordflow">if</span> (signing) {</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="comment">// possibly add a signature</span></div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        signature_len = mavlink_sign_packet(status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>, signature, buf, header_len+1,</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                            (<span class="keyword">const</span> uint8_t *)packet, length, ck);</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    }</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    </div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    MAVLINK_START_UART_SEND(chan, header_len + 3 + (uint16_t)length + (uint16_t)signature_len);</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)buf, header_len+1);</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    _mavlink_send_uart(chan, packet, length);</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)ck, 2);</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keywordflow">if</span> (signature_len != 0) {</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)signature, signature_len);</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    }</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    MAVLINK_END_UART_SEND(chan, header_len + 3 + (uint16_t)length + (uint16_t)signature_len);</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;}</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> _mavlink_resend_uart(mavlink_channel_t chan, <span class="keyword">const</span> mavlink_message_t *msg)</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;{</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    uint8_t ck[2];</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    ck[0] = (uint8_t)(msg-&gt;checksum &amp; 0xFF);</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    ck[1] = (uint8_t)(msg-&gt;checksum &gt;&gt; 8);</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="comment">// XXX use the right sequence here</span></div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        uint8_t header_len;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        uint8_t signature_len;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        </div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <span class="keywordflow">if</span> (msg-&gt;magic == MAVLINK_STX_MAVLINK1) {</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;            header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN + 1;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;            signature_len = 0;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;            MAVLINK_START_UART_SEND(chan, header_len + msg-&gt;len + 2 + signature_len);</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;            <span class="comment">// we can&#39;t send the structure directly as it has extra mavlink2 elements in it</span></div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            uint8_t buf[MAVLINK_CORE_HEADER_MAVLINK1_LEN + 1];</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;            buf[0] = msg-&gt;magic;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;            buf[1] = msg-&gt;len;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;            buf[2] = msg-&gt;seq;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;            buf[3] = msg-&gt;sysid;</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;            buf[4] = msg-&gt;compid;</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;            buf[5] = msg-&gt;msgid &amp; 0xFF;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span>*)buf, header_len);</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;            header_len = MAVLINK_CORE_HEADER_LEN + 1;</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;            signature_len = (msg-&gt;incompat_flags &amp; MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;            MAVLINK_START_UART_SEND(chan, header_len + msg-&gt;len + 2 + signature_len);</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;            uint8_t buf[MAVLINK_CORE_HEADER_LEN + 1];</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;            buf[0] = msg-&gt;magic;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;            buf[1] = msg-&gt;len;</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;            buf[2] = msg-&gt;incompat_flags;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;            buf[3] = msg-&gt;compat_flags;</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;            buf[4] = msg-&gt;seq;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;            buf[5] = msg-&gt;sysid;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;            buf[6] = msg-&gt;compid;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;            buf[7] = msg-&gt;msgid &amp; 0xFF;</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;            buf[8] = (msg-&gt;msgid &gt;&gt; 8) &amp; 0xFF;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;            buf[9] = (msg-&gt;msgid &gt;&gt; 16) &amp; 0xFF;</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;            _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)buf, header_len);</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        }</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    _mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg-&gt;len);</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)ck, 2);</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        <span class="keywordflow">if</span> (signature_len != 0) {</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        _mavlink_send_uart(chan, (<span class="keyword">const</span> <span class="keywordtype">char</span> *)msg-&gt;signature, MAVLINK_SIGNATURE_BLOCK_LEN);</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        }</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        MAVLINK_END_UART_SEND(chan, header_len + msg-&gt;len + 2 + signature_len);</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;}</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;<span class="preprocessor">#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buf, <span class="keyword">const</span> mavlink_message_t *msg)</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;{</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    uint8_t signature_len, header_len;</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    uint8_t *ck;</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        uint8_t length = msg-&gt;len;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        </div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    <span class="keywordflow">if</span> (msg-&gt;magic == MAVLINK_STX_MAVLINK1) {</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        signature_len = 0;</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        buf[0] = msg-&gt;magic;</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        buf[1] = length;</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        buf[2] = msg-&gt;seq;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        buf[3] = msg-&gt;sysid;</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        buf[4] = msg-&gt;compid;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        buf[5] = msg-&gt;msgid &amp; 0xFF;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        memcpy(&amp;buf[6], _MAV_PAYLOAD(msg), msg-&gt;len);</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        ck = buf + header_len + 1 + (uint16_t)msg-&gt;len;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        length = _mav_trim_payload(_MAV_PAYLOAD(msg), length);</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        header_len = MAVLINK_CORE_HEADER_LEN;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        buf[0] = msg-&gt;magic;</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        buf[1] = length;</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        buf[2] = msg-&gt;incompat_flags;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        buf[3] = msg-&gt;compat_flags;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        buf[4] = msg-&gt;seq;</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        buf[5] = msg-&gt;sysid;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        buf[6] = msg-&gt;compid;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        buf[7] = msg-&gt;msgid &amp; 0xFF;</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        buf[8] = (msg-&gt;msgid &gt;&gt; 8) &amp; 0xFF;</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        buf[9] = (msg-&gt;msgid &gt;&gt; 16) &amp; 0xFF;</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        memcpy(&amp;buf[10], _MAV_PAYLOAD(msg), length);</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        ck = buf + header_len + 1 + (uint16_t)length;</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        signature_len = (msg-&gt;incompat_flags &amp; MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    }</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    ck[0] = (uint8_t)(msg-&gt;checksum &amp; 0xFF);</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    ck[1] = (uint8_t)(msg-&gt;checksum &gt;&gt; 8);</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    <span class="keywordflow">if</span> (signature_len &gt; 0) {</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        memcpy(&amp;ck[2], msg-&gt;signature, signature_len);</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    }</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keywordflow">return</span> header_len + 1 + 2 + (uint16_t)length + (uint16_t)signature_len;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;}</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;</div><div class="line"><a name="l00459"></a><span class="lineno"><a class="line" href="union____mavlink__bitfield.html">  459</a></span>&#160;union <a class="code" href="union____mavlink__bitfield.html">__mavlink_bitfield</a> {</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    uint8_t uint8;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    int8_t int8;</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    uint16_t uint16;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    int16_t int16;</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    uint32_t uint32;</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    int32_t int32;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;};</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_start_checksum(mavlink_message_t* msg)</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;{</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    crc_init(&amp;msg-&gt;checksum);</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;}</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;{</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    crc_accumulate(c, &amp;msg-&gt;checksum);</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;}</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;<span class="comment">  return the crc_entry value for a msgid</span></div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;<span class="preprocessor">#ifndef MAVLINK_GET_MSG_ENTRY</span></div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;MAVLINK_HELPER <span class="keyword">const</span> <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a> *mavlink_get_msg_entry(uint32_t msgid)</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;{</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a> mavlink_message_crcs[] = MAVLINK_MESSAGE_CRCS;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        <span class="comment">/*</span></div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="comment">      use a bisection search to find the right entry. A perfect hash may be better</span></div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">      Note that this assumes the table is sorted by msgid</span></div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        uint32_t low=0, high=<span class="keyword">sizeof</span>(mavlink_message_crcs)/<span class="keyword">sizeof</span>(mavlink_message_crcs[0]);</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">while</span> (low &lt; high) {</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            uint32_t mid = (low+1+high)/2;</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            <span class="keywordflow">if</span> (msgid &lt; mavlink_message_crcs[mid].msgid) {</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                high = mid-1;</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;                <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;            }</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;            <span class="keywordflow">if</span> (msgid &gt; mavlink_message_crcs[mid].msgid) {</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;                low = mid;</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;                <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;            }</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;            low = mid;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        }</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        <span class="keywordflow">if</span> (mavlink_message_crcs[low].msgid != msgid) {</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            <span class="comment">// msgid is not in the table</span></div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;            <span class="keywordflow">return</span> NULL;</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;        }</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        <span class="keywordflow">return</span> &amp;mavlink_message_crcs[low];</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;}</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="preprocessor">#endif // MAVLINK_GET_MSG_ENTRY</span></div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="comment">  return the crc_extra value for a message</span></div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;MAVLINK_HELPER uint8_t mavlink_get_crc_extra(<span class="keyword">const</span> mavlink_message_t *msg)</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;{</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="keyword">const</span> <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a> *e = mavlink_get_msg_entry(msg-&gt;msgid);</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    <span class="keywordflow">return</span> e?e-&gt;crc_extra:0;</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;}</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;<span class="comment">  return the expected message length</span></div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;<span class="preprocessor">#define MAVLINK_HAVE_EXPECTED_MESSAGE_LENGTH</span></div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;MAVLINK_HELPER uint8_t mavlink_expected_message_length(<span class="keyword">const</span> mavlink_message_t *msg)</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;{</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    <span class="keyword">const</span> <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a> *e = mavlink_get_msg_entry(msg-&gt;msgid);</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    <span class="keywordflow">return</span> e?e-&gt;msg_len:0;</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;}</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg, </div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;                                                 <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* status,</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;                                                 uint8_t c, </div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;                                                 mavlink_message_t* r_message, </div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;                                                 <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* r_mavlink_status)</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;{</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    <span class="comment">/* Enable this option to check the length of each message.</span></div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;<span class="comment">       This allows invalid messages to be caught much sooner. Use if the transmission</span></div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;<span class="comment">       medium is prone to missing (or extra) characters (e.g. a radio that fades in</span></div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;<span class="comment">       and out). Only use if the channel will only contain messages types listed in</span></div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;<span class="comment">       the headers.</span></div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;<span class="preprocessor">#ifdef MAVLINK_CHECK_MESSAGE_LENGTH</span></div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;<span class="preprocessor">#ifndef MAVLINK_MESSAGE_LENGTH</span></div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;<span class="preprocessor">#define MAVLINK_MESSAGE_LENGTH(msgid) mavlink_message_lengths[msgid]</span></div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    <span class="keywordtype">int</span> bufferIndex = 0;</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_INCOMPLETE;</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="keywordflow">switch</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a>)</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    {</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_UNINIT:</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_IDLE:</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        <span class="keywordflow">if</span> (c == MAVLINK_STX)</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;        {</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_STX;</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;            rxmsg-&gt;len = 0;</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;            rxmsg-&gt;magic = c;</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;                        status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp;= ~MAVLINK_STATUS_FLAG_IN_MAVLINK1;</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;            mavlink_start_checksum(rxmsg);</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;        } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (c == MAVLINK_STX_MAVLINK1)</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;        {</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_STX;</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;            rxmsg-&gt;len = 0;</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;            rxmsg-&gt;magic = c;</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;                        status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> |= MAVLINK_STATUS_FLAG_IN_MAVLINK1;</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;            mavlink_start_checksum(rxmsg);</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        }</div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;</div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_STX:</div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;            <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> </div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;<span class="comment">/* Support shorter buffers than the</span></div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;<span class="comment">   default maximum packet size */</span></div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;#if (MAVLINK_MAX_PAYLOAD_LEN &lt; 255)</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;                || c &gt; MAVLINK_MAX_PAYLOAD_LEN</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;#endif</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;                )</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        {</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#ae0ceb5a136021ee78c953f2e86d772cb">buffer_overrun</a>++;</div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;            _mav_parse_error(status);</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = 0;</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;        }</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;        {</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;            <span class="comment">// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2</span></div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;            rxmsg-&gt;len = c;</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a> = 0;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;            mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;                        <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp; MAVLINK_STATUS_FLAG_IN_MAVLINK1) {</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;                            rxmsg-&gt;incompat_flags = 0;</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;                            rxmsg-&gt;compat_flags = 0;</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS;</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;                        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;                            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_LENGTH;</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;                        }</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;        }</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_LENGTH:</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;        rxmsg-&gt;incompat_flags = c;</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;        <span class="keywordflow">if</span> ((rxmsg-&gt;incompat_flags &amp; ~MAVLINK_IFLAG_MASK) != 0) {</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;            <span class="comment">// message includes an incompatible feature flag</span></div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;            _mav_parse_error(status);</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = 0;</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        }</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS;</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS:</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;        rxmsg-&gt;compat_flags = c;</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS;</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS:</div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;        rxmsg-&gt;seq = c;</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_SEQ;</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;                </div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_SEQ:</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        rxmsg-&gt;sysid = c;</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_SYSID;</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;</div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_SYSID:</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        rxmsg-&gt;compid = c;</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;                status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_COMPID;</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_COMPID:</div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        rxmsg-&gt;msgid = c;</div><div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;                <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp; MAVLINK_STATUS_FLAG_IN_MAVLINK1) {</div><div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;                    status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_MSGID3;</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;<span class="preprocessor">#ifdef MAVLINK_CHECK_MESSAGE_LENGTH</span></div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;                    <span class="keywordflow">if</span> (rxmsg-&gt;len != MAVLINK_MESSAGE_LENGTH(rxmsg-&gt;msgid))</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;                    {</div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;            _mav_parse_error(status);</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;                    }</div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;                } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;                    status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_MSGID1;</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;                }</div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_MSGID1:</div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        rxmsg-&gt;msgid |= c&lt;&lt;8;</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_MSGID2;</div><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;</div><div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_MSGID2:</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;        rxmsg-&gt;msgid |= c&lt;&lt;16;</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_MSGID3;</div><div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;<span class="preprocessor">#ifdef MAVLINK_CHECK_MESSAGE_LENGTH</span></div><div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;            <span class="keywordflow">if</span> (rxmsg-&gt;len != MAVLINK_MESSAGE_LENGTH(rxmsg-&gt;msgid))</div><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;        {</div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;            _mav_parse_error(status);</div><div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;                }</div><div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;                </div><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_MSGID3:</div><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;        _MAV_PAYLOAD_NON_CONST(rxmsg)[status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a>++] = (char)c;</div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;        mavlink_update_checksum(rxmsg, c);</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;        <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a> == rxmsg-&gt;len)</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;        {</div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_PAYLOAD;</div><div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;        }</div><div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;</div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_PAYLOAD: {</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;        <span class="keyword">const</span> <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a> *e = mavlink_get_msg_entry(rxmsg-&gt;msgid);</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;        uint8_t crc_extra = e?e-&gt;crc_extra:0;</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;        mavlink_update_checksum(rxmsg, crc_extra);</div><div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;        <span class="keywordflow">if</span> (c != (rxmsg-&gt;checksum &amp; 0xFF)) {</div><div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_BAD_CRC1;</div><div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_CRC1;</div><div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;        }</div><div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;                rxmsg-&gt;ck[0] = c;</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;</div><div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <span class="comment">// zero-fill the packet to cope with short incoming packets</span></div><div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;        <span class="keywordflow">if</span> (e &amp;&amp; status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a> &lt; e-&gt;msg_len) {</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;            memset(&amp;_MAV_PAYLOAD_NON_CONST(rxmsg)[status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a>], 0, e-&gt;msg_len - status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a>);</div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;        }</div><div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;        }</div><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;</div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_CRC1:</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_GOT_BAD_CRC1:</div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;        <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> == MAVLINK_PARSE_STATE_GOT_BAD_CRC1 || c != (rxmsg-&gt;checksum &gt;&gt; 8)) {</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;            <span class="comment">// got a bad CRC message</span></div><div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_BAD_CRC;</div><div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;            <span class="comment">// Successfully got message</span></div><div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_OK;</div><div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;        }</div><div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;        rxmsg-&gt;ck[1] = c;</div><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;</div><div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;        <span class="keywordflow">if</span> (rxmsg-&gt;incompat_flags &amp; MAVLINK_IFLAG_SIGNED) {</div><div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_SIGNATURE_WAIT;</div><div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">signature_wait</a> = MAVLINK_SIGNATURE_BLOCK_LEN;</div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;            <span class="comment">// If the CRC is already wrong, don&#39;t overwrite msg_received,</span></div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;            <span class="comment">// otherwise we can end up with garbage flagged as valid.</span></div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;            <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> != MAVLINK_FRAMING_BAD_CRC) {</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;                status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_INCOMPLETE;</div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;            }</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;            <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a> &amp;&amp;</div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;                (status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>-&gt;accept_unsigned_callback == NULL ||</div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;                 !status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>-&gt;accept_unsigned_callback(status, rxmsg-&gt;msgid))) {</div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;</div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;                <span class="comment">// If the CRC is already wrong, don&#39;t overwrite msg_received.</span></div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;                <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> != MAVLINK_FRAMING_BAD_CRC) {</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;                    status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_BAD_SIGNATURE;</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;                }</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;            }</div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;            memcpy(r_message, rxmsg, <span class="keyword">sizeof</span>(mavlink_message_t));</div><div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;        }</div><div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    <span class="keywordflow">case</span> MAVLINK_PARSE_STATE_SIGNATURE_WAIT:</div><div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;        rxmsg-&gt;signature[MAVLINK_SIGNATURE_BLOCK_LEN-status-&gt;<a class="code" href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">signature_wait</a>] = c;</div><div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">signature_wait</a>--;</div><div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;        <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">signature_wait</a> == 0) {</div><div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;            <span class="comment">// we have the whole signature, check it is OK</span></div><div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;            <span class="keywordtype">bool</span> sig_ok = mavlink_signature_check(status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>, status-&gt;<a class="code" href="struct____mavlink__status.html#ab0e29fe56be92a4bbd722529ac76bd84">signing_streams</a>, rxmsg);</div><div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;            <span class="keywordflow">if</span> (!sig_ok &amp;&amp;</div><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;                (status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>-&gt;accept_unsigned_callback &amp;&amp;</div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;                 status-&gt;<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>-&gt;accept_unsigned_callback(status, rxmsg-&gt;msgid))) {</div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;                <span class="comment">// accepted via application level override</span></div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;                sig_ok = <span class="keyword">true</span>;</div><div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;            }</div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;            <span class="keywordflow">if</span> (sig_ok) {</div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;                status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_OK;</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;            } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;                status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_BAD_SIGNATURE;</div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;            }</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;            memcpy(r_message, rxmsg, <span class="keyword">sizeof</span>(mavlink_message_t));</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;        }</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    }</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;</div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    bufferIndex++;</div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;    <span class="comment">// If a message has been sucessfully decoded, check index</span></div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;    <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> == MAVLINK_FRAMING_OK)</div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;    {</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        <span class="comment">//while(status-&gt;current_seq != rxmsg-&gt;seq)</span></div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        <span class="comment">//{</span></div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        <span class="comment">//  status-&gt;packet_rx_drop_count++;</span></div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        <span class="comment">//               status-&gt;current_seq++;</span></div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        <span class="comment">//}</span></div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#affbdd32b3dff8ae35327a79ed6b17646">current_rx_seq</a> = rxmsg-&gt;seq;</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;        <span class="comment">// Initial condition: If no packet has been received so far, drop count is undefined</span></div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;        <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">packet_rx_success_count</a> == 0) status-&gt;<a class="code" href="struct____mavlink__status.html#a1a1f510b9484e705c971f20fd1d61912">packet_rx_drop_count</a> = 0;</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;        <span class="comment">// Count this packet as received</span></div><div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">packet_rx_success_count</a>++;</div><div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;    }</div><div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;</div><div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;    r_message-&gt;len = rxmsg-&gt;len; <span class="comment">// Provide visibility on how far we are into current msg</span></div><div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    r_mavlink_status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a>;</div><div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    r_mavlink_status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">packet_idx</a>;</div><div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;    r_mavlink_status-&gt;<a class="code" href="struct____mavlink__status.html#affbdd32b3dff8ae35327a79ed6b17646">current_rx_seq</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#affbdd32b3dff8ae35327a79ed6b17646">current_rx_seq</a>+1;</div><div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    r_mavlink_status-&gt;<a class="code" href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">packet_rx_success_count</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">packet_rx_success_count</a>;</div><div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    r_mavlink_status-&gt;<a class="code" href="struct____mavlink__status.html#a1a1f510b9484e705c971f20fd1d61912">packet_rx_drop_count</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">parse_error</a>;</div><div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    r_mavlink_status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> = status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a>;</div><div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    status-&gt;<a class="code" href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">parse_error</a> = 0;</div><div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;</div><div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    <span class="keywordflow">if</span> (status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> == MAVLINK_FRAMING_BAD_CRC) {</div><div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        <span class="comment">/*</span></div><div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;<span class="comment">          the CRC came out wrong. We now need to overwrite the</span></div><div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;<span class="comment">          msg CRC with the one on the wire so that if the</span></div><div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;<span class="comment">          caller decides to forward the message anyway that</span></div><div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;<span class="comment">          mavlink_msg_to_send_buffer() won&#39;t overwrite the</span></div><div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;<span class="comment">          checksum</span></div><div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;<span class="comment">         */</span></div><div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;        r_message-&gt;checksum = rxmsg-&gt;ck[0] | (rxmsg-&gt;ck[1]&lt;&lt;8);</div><div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    }</div><div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;</div><div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;    <span class="keywordflow">return</span> status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a>;</div><div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;}</div><div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;</div><div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* r_mavlink_status)</div><div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;{</div><div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;    <span class="keywordflow">return</span> mavlink_frame_char_buffer(mavlink_get_channel_buffer(chan),</div><div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;                     mavlink_get_channel_status(chan),</div><div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;                     c,</div><div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;                     r_message,</div><div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;                     r_mavlink_status);</div><div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;}</div><div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;</div><div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_set_proto_version(uint8_t chan, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> version)</div><div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;{</div><div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;    <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status = mavlink_get_channel_status(chan);</div><div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;    <span class="keywordflow">if</span> (version &gt; 1) {</div><div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp;= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1);</div><div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;</div><div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;    }</div><div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;}</div><div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;</div><div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;MAVLINK_HELPER <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mavlink_get_proto_version(uint8_t chan)</div><div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;{</div><div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;    <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status = mavlink_get_channel_status(chan);</div><div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;    <span class="keywordflow">if</span> ((status-&gt;<a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a> &amp; MAVLINK_STATUS_FLAG_OUT_MAVLINK1) &gt; 0) {</div><div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;        <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;        <span class="keywordflow">return</span> 2;</div><div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;    }</div><div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;}</div><div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;</div><div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* r_mavlink_status)</div><div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;{</div><div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;    uint8_t msg_received = mavlink_frame_char(chan, c, r_message, r_mavlink_status);</div><div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;    <span class="keywordflow">if</span> (msg_received == MAVLINK_FRAMING_BAD_CRC ||</div><div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;    msg_received == MAVLINK_FRAMING_BAD_SIGNATURE) {</div><div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;        <span class="comment">// we got a bad CRC. Treat as a parse failure</span></div><div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;        mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan);</div><div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;        <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* status = mavlink_get_channel_status(chan);</div><div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;        _mav_parse_error(status);</div><div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a> = MAVLINK_FRAMING_INCOMPLETE;</div><div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;        status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_IDLE;</div><div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;        <span class="keywordflow">if</span> (c == MAVLINK_STX)</div><div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;        {</div><div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;            status-&gt;<a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a> = MAVLINK_PARSE_STATE_GOT_STX;</div><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;            rxmsg-&gt;len = 0;</div><div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;            mavlink_start_checksum(rxmsg);</div><div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;        }</div><div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;        <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;    }</div><div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;    <span class="keywordflow">return</span> msg_received;</div><div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;}</div><div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;</div><div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)</div><div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;{</div><div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;    uint16_t bits_remain = bits;</div><div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;    <span class="comment">// Transform number into network order</span></div><div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;    int32_t v;</div><div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;    uint8_t i_bit_index, i_byte_index, curr_bits_n;</div><div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;    <span class="keyword">union </span>{</div><div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;        int32_t i;</div><div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;        uint8_t b[4];</div><div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;    } bin, bout;</div><div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;    bin.i = b;</div><div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;    bout.b[0] = bin.b[3];</div><div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;    bout.b[1] = bin.b[2];</div><div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;    bout.b[2] = bin.b[1];</div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;    bout.b[3] = bin.b[0];</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;    v = bout.i;</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;    v = b;</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;</div><div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    <span class="comment">// buffer in</span></div><div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;    <span class="comment">// 01100000 01000000 00000000 11110001</span></div><div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;    <span class="comment">// buffer out</span></div><div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;    <span class="comment">// 11110001 00000000 01000000 01100000</span></div><div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;</div><div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;    <span class="comment">// Existing partly filled byte (four free slots)</span></div><div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;    <span class="comment">// 0111xxxx</span></div><div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;</div><div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;    <span class="comment">// Mask n free bits</span></div><div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;    <span class="comment">// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1</span></div><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;    <span class="comment">// = ((uint32_t)(1 &lt;&lt; n)) - 1; // = 2^n - 1</span></div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;</div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;    <span class="comment">// Shift n bits into the right position</span></div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;    <span class="comment">// out = in &gt;&gt; n;</span></div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;</div><div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;    <span class="comment">// Mask and shift bytes</span></div><div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;    i_bit_index = bit_index;</div><div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;    i_byte_index = packet_index;</div><div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;    <span class="keywordflow">if</span> (bit_index &gt; 0)</div><div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;    {</div><div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;        <span class="comment">// If bits were available at start, they were available</span></div><div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;        <span class="comment">// in the byte before the current index</span></div><div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;        i_byte_index--;</div><div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;    }</div><div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;</div><div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;    <span class="comment">// While bits have not been packed yet</span></div><div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;    <span class="keywordflow">while</span> (bits_remain &gt; 0)</div><div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;    {</div><div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;        <span class="comment">// Bits still have to be packed</span></div><div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;        <span class="comment">// there can be more than 8 bits, so</span></div><div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;        <span class="comment">// we might have to pack them into more than one byte</span></div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;        <span class="comment">// First pack everything we can into the current &#39;open&#39; byte</span></div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;        <span class="comment">//curr_bits_n = bits_remain &lt;&lt; 3; // Equals  bits_remain mod 8</span></div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;        <span class="comment">//FIXME</span></div><div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;        <span class="keywordflow">if</span> (bits_remain &lt;= (uint8_t)(8 - i_bit_index))</div><div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;        {</div><div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;            <span class="comment">// Enough space</span></div><div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;            curr_bits_n = (uint8_t)bits_remain;</div><div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;        }</div><div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        {</div><div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;            curr_bits_n = (8 - i_bit_index);</div><div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;        }</div><div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;        </div><div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;        <span class="comment">// Pack these n bits into the current byte</span></div><div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;        <span class="comment">// Mask out whatever was at that position with ones (xxx11111)</span></div><div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;        buffer[i_byte_index] &amp;= (0xFF &gt;&gt; (8 - curr_bits_n));</div><div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;        <span class="comment">// Put content to this position, by masking out the non-used part</span></div><div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;        buffer[i_byte_index] |= ((0x00 &lt;&lt; curr_bits_n) &amp; v);</div><div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;        </div><div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;        <span class="comment">// Increment the bit index</span></div><div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;        i_bit_index += curr_bits_n;</div><div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;</div><div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;        <span class="comment">// Now proceed to the next byte, if necessary</span></div><div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;        bits_remain -= curr_bits_n;</div><div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;        <span class="keywordflow">if</span> (bits_remain &gt; 0)</div><div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;        {</div><div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;            <span class="comment">// Offer another 8 bits / one byte</span></div><div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;            i_byte_index++;</div><div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;            i_bit_index = 0;</div><div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;        }</div><div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;    }</div><div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;    </div><div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;    *r_bit_index = i_bit_index;</div><div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;    <span class="comment">// If a partly filled byte is present, mark this as consumed</span></div><div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;    <span class="keywordflow">if</span> (i_bit_index != 7) i_byte_index++;</div><div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;    <span class="keywordflow">return</span> i_byte_index - packet_index;</div><div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;}</div><div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;</div><div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;</div><div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;<span class="comment">// To make MAVLink work on your MCU, define comm_send_ch() if you wish</span></div><div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;<span class="comment">// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a</span></div><div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;<span class="comment">// whole packet at a time</span></div><div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;</div><div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;<span class="comment"></span></div><div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;<span class="comment">#include &quot;mavlink_types.h&quot;</span></div><div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;<span class="comment"></span></div><div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;<span class="comment">void comm_send_ch(mavlink_channel_t chan, uint8_t ch)</span></div><div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;<span class="comment">    if (chan == MAVLINK_COMM_0)</span></div><div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;<span class="comment">        uart0_transmit(ch);</span></div><div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;<span class="comment">    if (chan == MAVLINK_COMM_1)</span></div><div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;<span class="comment">    {</span></div><div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;<span class="comment">        uart1_transmit(ch);</span></div><div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;<span class="comment">    }</span></div><div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;</div><div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;MAVLINK_HELPER <span class="keywordtype">void</span> _mavlink_send_uart(mavlink_channel_t chan, <span class="keyword">const</span> <span class="keywordtype">char</span> *buf, uint16_t len)</div><div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;{</div><div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;<span class="preprocessor">#ifdef MAVLINK_SEND_UART_BYTES</span></div><div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;    <span class="comment">/* this is the more efficient approach, if the platform</span></div><div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;<span class="comment">       defines it */</span></div><div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;    MAVLINK_SEND_UART_BYTES(chan, (<span class="keyword">const</span> uint8_t *)buf, len);</div><div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;    <span class="comment">/* fallback to one byte at a time */</span></div><div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;    uint16_t i;</div><div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;    <span class="keywordflow">for</span> (i = 0; i &lt; len; i++) {</div><div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;        comm_send_ch(chan, (uint8_t)buf[i]);</div><div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;    }</div><div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;}</div><div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;<span class="preprocessor">#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;</div><div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CXX_NAMESPACE</span></div><div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;} <span class="comment">// namespace mavlink</span></div><div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="struct____mavlink__status_html_ab0e29fe56be92a4bbd722529ac76bd84"><div class="ttname"><a href="struct____mavlink__status.html#ab0e29fe56be92a4bbd722529ac76bd84">__mavlink_status::signing_streams</a></div><div class="ttdeci">struct __mavlink_signing_streams * signing_streams</div><div class="ttdoc">global record of stream timestamps </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:230</div></div>
<div class="ttc" id="struct____mavlink__status_html"><div class="ttname"><a href="struct____mavlink__status.html">__mavlink_status</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:217</div></div>
<div class="ttc" id="struct____mavlink__signing__streams_html"><div class="ttname"><a href="struct____mavlink__signing__streams.html">__mavlink_signing_streams</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:261</div></div>
<div class="ttc" id="struct____mavlink__status_html_a183576e45facc9da8123b7866d458680"><div class="ttname"><a href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">__mavlink_status::msg_received</a></div><div class="ttdeci">uint8_t msg_received</div><div class="ttdoc">Number of received messages. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:218</div></div>
<div class="ttc" id="struct____mavlink__status_html_aaf6742a61bbc641a4600184b3260fa0f"><div class="ttname"><a href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">__mavlink_status::parse_state</a></div><div class="ttdeci">mavlink_parse_state_t parse_state</div><div class="ttdoc">Parsing state machine. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:221</div></div>
<div class="ttc" id="struct____mavlink__signing_html"><div class="ttname"><a href="struct____mavlink__signing.html">__mavlink_signing</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:246</div></div>
<div class="ttc" id="structmavlink__sha256__ctx_html"><div class="ttname"><a href="structmavlink__sha256__ctx.html">mavlink_sha256_ctx</a></div><div class="ttdef"><b>Definition:</b> mavlink_sha256.h:53</div></div>
<div class="ttc" id="struct____mavlink__status_html_ae7a52aa0c84929dbf181220c689f9ec8"><div class="ttname"><a href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">__mavlink_status::parse_error</a></div><div class="ttdeci">uint8_t parse_error</div><div class="ttdoc">Number of parse errors. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:220</div></div>
<div class="ttc" id="struct____mavlink__status_html_a1a1f510b9484e705c971f20fd1d61912"><div class="ttname"><a href="struct____mavlink__status.html#a1a1f510b9484e705c971f20fd1d61912">__mavlink_status::packet_rx_drop_count</a></div><div class="ttdeci">uint16_t packet_rx_drop_count</div><div class="ttdoc">Number of packet drops. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:226</div></div>
<div class="ttc" id="struct____mavlink__msg__entry_html"><div class="ttname"><a href="struct____mavlink__msg__entry.html">__mavlink_msg_entry</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:281</div></div>
<div class="ttc" id="struct____mavlink__signing_html_a5e08957249da64329f7ee29c1c503516"><div class="ttname"><a href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">__mavlink_signing::flags</a></div><div class="ttdeci">uint8_t flags</div><div class="ttdoc">MAVLINK_SIGNING_FLAG_*. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:247</div></div>
<div class="ttc" id="struct____mavlink__status_html_aa088f67773cdf9ff541c5880e65cee68"><div class="ttname"><a href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">__mavlink_status::packet_rx_success_count</a></div><div class="ttdeci">uint16_t packet_rx_success_count</div><div class="ttdoc">Received packets. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:225</div></div>
<div class="ttc" id="union____mavlink__bitfield_html"><div class="ttname"><a href="union____mavlink__bitfield.html">__mavlink_bitfield</a></div><div class="ttdef"><b>Definition:</b> mavlink_helpers.h:459</div></div>
<div class="ttc" id="struct____mavlink__status_html_a2b67d268b29712b9607d1796228a77a2"><div class="ttname"><a href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">__mavlink_status::flags</a></div><div class="ttdeci">uint8_t flags</div><div class="ttdoc">MAVLINK_STATUS_FLAG_*. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:227</div></div>
<div class="ttc" id="struct____mavlink__status_html_a3e582235849323267974003eb1793e25"><div class="ttname"><a href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">__mavlink_status::packet_idx</a></div><div class="ttdeci">uint8_t packet_idx</div><div class="ttdoc">Index in current packet. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:222</div></div>
<div class="ttc" id="struct____mavlink__status_html_affbdd32b3dff8ae35327a79ed6b17646"><div class="ttname"><a href="struct____mavlink__status.html#affbdd32b3dff8ae35327a79ed6b17646">__mavlink_status::current_rx_seq</a></div><div class="ttdeci">uint8_t current_rx_seq</div><div class="ttdoc">Sequence number of last packet received. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:223</div></div>
<div class="ttc" id="mavlink__conversions_8h_html"><div class="ttname"><a href="mavlink__conversions_8h.html">mavlink_conversions.h</a></div></div>
<div class="ttc" id="struct____mavlink__status_html_ae0ceb5a136021ee78c953f2e86d772cb"><div class="ttname"><a href="struct____mavlink__status.html#ae0ceb5a136021ee78c953f2e86d772cb">__mavlink_status::buffer_overrun</a></div><div class="ttdeci">uint8_t buffer_overrun</div><div class="ttdoc">Number of buffer overruns. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:219</div></div>
<div class="ttc" id="struct____mavlink__status_html_afbdd26652864ceeccf1155287752496c"><div class="ttname"><a href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">__mavlink_status::signature_wait</a></div><div class="ttdeci">uint8_t signature_wait</div><div class="ttdoc">number of signature bytes left to receive </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:228</div></div>
<div class="ttc" id="struct____mavlink__status_html_a06482d6c3fbfa829526c9b2e2e895f32"><div class="ttname"><a href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">__mavlink_status::current_tx_seq</a></div><div class="ttdeci">uint8_t current_tx_seq</div><div class="ttdoc">Sequence number of last packet sent. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:224</div></div>
<div class="ttc" id="struct____mavlink__status_html_a12ca1a2ade1b6b83d87a8cd7553884a9"><div class="ttname"><a href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">__mavlink_status::signing</a></div><div class="ttdeci">struct __mavlink_signing * signing</div><div class="ttdoc">optional signing state </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:229</div></div>
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